From ce919ed3f8e2f670e00f7f6e7539b867abe67d07 Mon Sep 17 00:00:00 2001 From: lhiven Date: Sat, 7 Sep 2024 08:27:20 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E5=9B=BA=E9=AB=98=E5=8D=A1=E8=BF=90?= =?UTF-8?q?=E5=8A=A8=E6=97=B6=E5=A2=9E=E5=8A=A0=E5=AF=B9=E5=AE=89=E5=85=A8?= =?UTF-8?q?=E7=9A=84=E6=A3=80=E6=B5=8B=202=E3=80=81=E5=8F=96=E6=B6=88?= =?UTF-8?q?=E5=9B=BA=E9=AB=98=E5=8D=A1=E5=88=9D=E5=A7=8B=E5=8C=96=E6=97=B6?= =?UTF-8?q?=E4=BF=A1=E6=81=AF=EF=BC=8C=E6=94=B9=E4=BD=8D=E5=8A=A0=E8=BD=BD?= =?UTF-8?q?=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Rs.Motion/GugaoEcat/GugaoAxis.cs | 8 +++- Rs.Motion/GugaoPulse/GugaoPulseAxis.cs | 52 +++++++++++++------------- 2 files changed, 32 insertions(+), 28 deletions(-) diff --git a/Rs.Motion/GugaoEcat/GugaoAxis.cs b/Rs.Motion/GugaoEcat/GugaoAxis.cs index 48fb546..52b2cb1 100644 --- a/Rs.Motion/GugaoEcat/GugaoAxis.cs +++ b/Rs.Motion/GugaoEcat/GugaoAxis.cs @@ -272,7 +272,8 @@ namespace Rs.Motion.GugaoEcat return ErrorCode.CardNotInit; if (!IsInitialized) return ErrorCode.AxisNotInit; - + if (!SafeCheck()) + return ErrorCode.Unsafe; nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent; nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent; if (HomeStatus != EHomeStatus.Finished) @@ -372,6 +373,8 @@ namespace Rs.Motion.GugaoEcat { return ErrorCode.AxisNotInit; } + if (!SafeCheck()) + return ErrorCode.Unsafe; nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent; nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent; double curPos = 0.0; @@ -502,7 +505,8 @@ namespace Rs.Motion.GugaoEcat { return ErrorCode.AxisNotInit; } - + if (!SafeCheck()) + return ErrorCode.Unsafe; nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent; nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent; ErrorCode err = IsEnable(out bool bEnable); diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs index d1f9be5..fafea77 100644 --- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs +++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs @@ -34,27 +34,27 @@ namespace Rs.Motion.GugaoPulse public override ErrorCode Init() { - mc_pulse_cfg.TAxisConfig axisConfig; - apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig); - mc_pulse_cfg.TDiConfig diConfig; - if (!cardManager.IsInitialized) - { - return ErrorCode.CardNotInit; - } - HomeStatus = EHomeStatus.NotStart; - if (Config.EnableAlarm == 0) - { - mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId); - } - else if (Config.EnableAlarm == 1) - { - axisConfig.alarmIndex = (short)Config.AxisId; - apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig); - diConfig.active = 1; - diConfig.reverse = (short)Config.AlarmLogic; - diConfig.filterTime = 3; - apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig); - } + //mc_pulse_cfg.TAxisConfig axisConfig; + //apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig); + //mc_pulse_cfg.TDiConfig diConfig; + //if (!cardManager.IsInitialized) + //{ + // return ErrorCode.CardNotInit; + //} + //HomeStatus = EHomeStatus.NotStart; + //if (Config.EnableAlarm == 0) + //{ + // mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId); + //} + //else if (Config.EnableAlarm == 1) + //{ + // axisConfig.alarmIndex = (short)Config.AxisId; + // apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig); + // diConfig.active = 1; + // diConfig.reverse = (short)Config.AlarmLogic; + // diConfig.filterTime = 3; + // apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig); + //} //mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, out mc_pulse_cfg.TDoConfig oConfig); //oConfig.reverse = 0; @@ -108,11 +108,11 @@ namespace Rs.Motion.GugaoPulse // diConfig.reverse = (short)Config.InpLogic; // apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, ref diConfig); //} - apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig); - diConfig.active = 1; - diConfig.reverse = (short)Config.HomeOrgLogic; - diConfig.filterTime = 3; - apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, ref diConfig); + //apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig); + //diConfig.active = 1; + //diConfig.reverse = (short)Config.HomeOrgLogic; + //diConfig.filterTime = 3; + //apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, ref diConfig); //apiResult = mc_pulse_cfg.GT_SetAxisConfig((short)Config.CardId, (short)Config.AxisId, ref axisConfig); // mc_cfg.GT_SetDiConfig(short diType, short diIndex, ref TDiConfig pDi);